Robotic picking systems and devices

ABSTRACT

A robotic picking device for picking items  28  from a containerised storage system is described. The items  28  are stored in storage bins  10  in stacks  12  within a framework  14  comprising a grid system  22  disposed above the stacks  12  of bins  10.  Robotic picking devices are disposed on the grid  22,  the devices acting so as to pick containers from the stacks  12  of bins  10.  The storage system is provided with at least one picking device for picking items  28  from bins  10  and depositing them directly in delivery containers DT.

The present application is a divisional of U.S. patent application Ser.No. 15/775,671 filed on 11^(th) of May 2018, which is a US NationalStage Application of PCT/EP2016/077468 filed on 11^(th) of Nov. 2016,which claims priority from UK Patent Application Nos. GB1519931.8,GB1519930.0 and GB1519929.2 filed on 11 Nov. 2015, the entire contentsof which are hereby incorporated by reference.

The present invention relates to robotic picking systems and devices.More specifically but not exclusively, it relates to robotic pickingsystems for picking objects from storage systems having storage bins instacks, the stacks being located within a grid structure.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage bins or containers in stacks ontop of one another, the stacks being arranged in rows. The storage binsare removed from the stacks and accessed from above by load handlingdevices, removing the need for aisles between the rows and allowing morecontainers to be stored in a given space.

Methods of handling containers stacked in rows have been well known fordecades. In some such systems, for example as described in U.S. Pat. No.2,701,065, to Bertel comprise free-standing stacks of containersarranged in rows in order to reduce the storage volume associated withstoring such containers but yet still providing access to a specificcontainer if required. Access to a given container is made possible byproviding relatively complicated hoisting mechanisms which can be usedto stack and remove given containers from stacks. The cost of suchsystems are, however, impractical in many situations and they havemainly been commercialised for the storage and handling of largeshipping containers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 0 767 113 B to Cimcorp. '113discloses a mechanism for removing a plurality of stacked containers,using a robotic load handler in the form of a rectangular tube which islowered around the stack of containers, and which is configured to beable to grip a container at any level in the stack. In this way, severalcontainers can be lifted at once from a stack. The movable tube can beused to move several containers from the top of one stack to the top ofanother stack, or to move containers from a stack to an externallocation and vice versa. Such systems can be particularly useful whereall of the containers in a single stack contain the same product (knownas a single-product stack).

In the system described in '113, the height of the tube has to be asleast as high as the height of the largest stack of containers, so thatthat the highest stack of containers can be extracted in a singleoperation. Accordingly, when used in an enclosed space such as awarehouse, the maximum height of the stacks is restricted by the need toaccommodate the tube of the load handler.

EP 1037828 B1 (Autostore) the contents of which are incorporated hereinby reference, describes a system in which stacks of containers arearranged within a frame structure. A system of this type is illustratedschematically in FIGS. 1 to 4 of the accompanying drawings. Robotic loadhandling devices can be controllably moved around the stack on a systemof tracks on the upper most surface of the stack.

Other forms of robotic load handling device are further described in,for example, Norwegian patent number 317366, the contents of which areincorporated herein by reference. FIGS. 3(a) and 3(b) are schematicperspective views of a load handling device from the rear and front,respectively, and FIG. 3(c) is a schematic front perspective view of aload handling device lifting a bin.

A further development of load handling device is described in UK PatentApplication No. GB1314313.6—Ocado Innovation Limited—where each roboticload handler only covers one grid space, thus allowing higher density ofload handlers and thus higher throughput of a given size system.However, any suitable form of load handling device may be used.

In the known robotic picking systems described above, robotic loadhandling devices are controllably moved around the top of the stacks ona track system forming a grid. A given load handling device lifts a binfrom the stack, the container being lifter containing inventory itemsneeded to fulfil a customer order. The container is carried to a pickstation where the required inventory item may be manually removed fromthe bin and placed in a delivery container, the delivery containerforming part of the customer order, and being manually filled fordispatch at the appropriate time. At the pick station, the items mayalso be picked by industrial robots, suitable for such work, for exampleas described in UK Patent Application No GB1502123.1—Ocado InnovationLimited.

It will be appreciated that this picking of inventory items from storagebins in to delivery containers can cause delays at pick stations,causing congestion at the pick stations and delays in the assembly ofcustomer orders. In addition, the pick stations themselves represent asignificant investment, whether design for manual or robotic picking.

According to the invention there is provided a picking device forpicking at least one inventory item from at least one container in astorage system, the storage system comprising: a plurality of rails ortracks arranged in a grid pattern above a plurality of containers, thegrid pattern comprising a plurality of grid spaces, the containers beinglocated beneath the tracks or rails within a footprint of a single gridspace, the picking device being configured to move laterally on therails or tracks above the containers, a portion of the containerscomprising inventory items; characterised in that; the picking devicecomprises picking means adapted to pick at least one inventory item fromat least one container, and means for moving the or each item from theat least one container to a different predetermined container.

In this way, parts of customer orders, or some or all customer ordersmay be picked robotically directly on the grid. This reduces the amountof manual intervention required in the system which improves efficiencyand reduces costs.

In this way, the present invention overcomes the problems of the priorart and provides a system and method of increasing the speed at whichcustomer orders are compiled and reduce the overall cost and improve theefficiency of large bin handling storage and picking systems.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 is a schematic, perspective view of a frame structure for housinga plurality of stacks of bins in a storage system;

FIG. 2 is a schematic, plan view of part of the frame structure of FIG.1;

FIGS. 3(a) and 3(b) are schematic, perspective views, from the rear andfront respectively, of one form of robotic load handling device for usewith the frame structure of FIGS. 1 and 2, and FIG. 3(c) is a schematicperspective view of the known load handler device in use lifting a bin;

FIG. 4 is a schematic, perspective view of a known storage systemcomprising a plurality of load handler devices of the type shown inFIGS. 3(a), 3(b) and 3(c), installed on the frame structure of FIGS. 1and 2, together with a robotic load handling device in accordance withone form of the invention.

FIG. 5 is a schematic, perspective view of one form of robotic pickingarea in accordance with one aspect of the invention the robotic pickingarea being located above a dispatch dock, the picking area comprising aseries of grids forming tracks above a plurality of delivery containers;

FIG. 6a is a schematic, cut-away, perspective view of one form ofrobotic picking device in accordance with a first embodiment of theinvention, the robotic picking device picking an inventory item 28 froma bin located in the robotic picking area of FIG. 5;

FIG. 6b is a schematic, cut-away, perspective view of one form ofrobotic picking device in accordance with a first embodiment of theinvention, the robotic picking device depositing the picked item fromFIG. 6a in a delivery container located in the robotic picking area ofFIG. 5, the delivery container being pre-loaded with delivery bags;

FIG. 7 is a schematic, perspective view of a robotic picking device inaccordance with a first embodiment of the invention, picking aninventory item from a bin in a stack within the main storage system;

FIG. 8a is a schematic, cut-away, perspective view of a robotic pickingdevice in accordance with a further invention, the robotic pickingdevice being adapted to lift a bin containing inventory items from thestorage system, pick an inventory item from the bin and deposit thepicked item in to a delivery container, the delivery container being ina dispatch portion of the grid, a robotic picking area or within thestorage system;

FIGS. 8b to 8f are cut-away, schematic views of the dispatch portion ofFIG. 8, showing the robotic picking device of FIG. 8a depositing aninventory item robotically picked from the storage system directly in toa delivery bin;

FIGS. 8g to 8i are cut-away, schematic views of a portion of the storagesystem of FIG. 5, showing the robotic picking device of FIG. 8a pickinginventory items from bins within the grid and depositing them with adelivery container held within the body of the robotic picking device;

FIGS. 9a to 9f are cut-away perspective, schematic views of a roboticpicking device in accordance with a further aspect of the invention, therobotic picking device being adapted to receive a bin containinginventory items from the storage system, pick an inventory item from thebin and deposit the picked item in to a delivery container, the deliverycontainer being in a dispatch portion of the grid, a robotic pickingarea of the grid or within the storage system;

FIG. 10a is a schematic, perspective view of a further form of roboticdevice, in accordance with the invention, the robotic device comprisingan opening in the top surface of the vehicle body, thereby extending acavity through the robotic device, the extended cavity enabling thecontent of the bin or delivery container to be accessed through the topof the device;

FIG. 10b is a schematic, perspective view of the robotic device of FIG.10a showing a delivery container in situ in the extended cavity;

FIG. 10c is a schematic, perspective view of the robotic device of FIGS.10a and 10b on the grid of the storage system, the system furthercomprising robotic picking means adapted so as to access the content ofthe delivery container or bin located within the cavity of the roboticdevice, the robotic picking means picking an inventory item from one ofa number of robotic devices located on the grid of the storage system;

FIG. 10d is a schematic, perspective view of the robotic device of FIGS.10a and 10b on the grid of the storage system, the system furthercomprising robotic picking means adapted so as to be carried on afurther form of robotic device, the robotic picking means picking aninventory item from one of a number of robotic devices located on thegrid of the storage system and placing said inventory item in a roboticdevice comprising a delivery container;

FIGS. 11a and 11b are schematic, perspective views of a robotic pickingdevice in accordance with a further aspect of the invention, the roboticpicking device being moveably mounted on an edge of the storage system,the robotic picking device picking an inventory item from within aportion of the storage system of FIG. 5 and depositing the inventoryitem within a delivery container located in the storage system;

FIGS. 12a and 12b are schematic, perspective views of a robotic pickingdevice in accordance with a further aspect of the invention, the roboticpicking device being moveably mounted above the storage system, therobotic picking device being movable to positions above any storage binor delivery container within the storage system, the robotic pickingdevice being adapted so as to pick inventory items directly from atleast one storage bin and deposit the or each item in at least onedelivery container;

FIGS. 13a, 13b and 13c are perspective, schematic cut-away views of abin in accordance with a further invention, the bin comprising a numberof dispenser mechanisms capable of automatically and under remotecontrol, depositing items from the bin in to delivery containers;

FIG. 13d is a schematic, perspective view of a robotic handling devicein accordance with a further invention, the robotic handling devicecomprising means for lifting and carrying the bin of FIGS. 13a, b and cthe bin dispensing inventory items contained therein, in to deliverycontainers located in a portion of the storage system;

FIGS. 14a, 14b and 14c are schematic views of further aspects of aninvention showing a bin comprising a mechanism for withdrawing a basesection of the bin, the base section moving between a first and secondposition such that in the first position an inventory item is heldwithin the bin, and in the second position the inventory item isreleased from the bin;

FIG. 14d is a schematic view of one form of mechanism for moving thebase section of the bin of FIGS. 14a, b, and c from the first positionto the second position;

FIG. 14e is a schematic, cut away view of a further form of robotichandling device carrying a bin, the bin comprising a base movable from afirst closed position to a second open position, showing an inventoryitem having dropped from the bin to a delivery container on movement ofthe base of the bin in to the second open position;

FIG. 15a is a schematic view of a further form of bin having a basesection that is movable from a first to a second position, the binhaving a base comprising a plurality of portions independently movablefrom first to second positions in order to allow inventory items locatedwithin said bin to be controllably deposited in to a specific part of adelivery container;

FIG. 15b is a schematic, cut-away view of a further form of robotic loadhandling device in accordance with one form of the invention, the loadhandling device carrying the bin of FIG. 15a showing the inventory itembeing deposited in to a given bagged part of a delivery container below;

FIG. 16a is a schematic view of a further bin in accordance with afurther aspect of the invention, the bin comprising an alternativeembodiment of mechanism for moving the base section of the bin from afirst position to a second position such that an inventory item heldwithin the bin may fall into the delivery container below;

FIG. 16b is a schematic, cut-away view of a further form of robotic loadhandling device in accordance with one form of the invention, the loadhandling device carrying the bin of FIG. 16a showing the inventory itembeing deposited in a delivery container below;

FIG. 17 is a schematic view of a further bin in accordance with afurther aspect of the invention, the bin comprising an alternativeembodiment of mechanism moving the base section of the bin from a firstposition to a second position such that an inventory item held withinthe bin falls into the delivery container below;

FIG. 18a is a schematic view of a bin in accordance with a furtheraspect of the invention, the bin comprising an alternative mechanism fordepositing inventory items located within the storage container to bedeposited in to a delivery container below, the inventory item being ofthe flowing type; and

FIG. 18b is a schematic cut-away view of a further form of robotic loadhandling device in accordance with one form of the invention, the loadhandling device carrying the bin of FIG. 18a showing the inventory itemsbeing deposited in a delivery container below.

As shown in FIGS. 1 and 2, stackable storage containers, known as bins10, are stacked on top of one another to form stacks 12. The stacks 12are arranged in a frame structure 14 in a warehousing or manufacturingenvironment. FIG. 1 is a schematic perspective view of the framestructure 14, and FIG. 2 is a top-down view showing a single stack 12 ofbins 10 arranged within the frame structure 14. Each bin 10 typicallyholds a plurality of product or inventory items 28, and the inventoryitems within a bin 10 may be identical, or may be of different producttypes depending on the application. Furthermore, the bins 10 may bephysically subdivided to accommodate a plurality of different inventoryitems 28.

In the description below, bins 10 will be used to denote containersintended for the storage of inventory items 28, whilst deliverycontainers DT will be used to denote containers intended to be filled tofulfil customer orders placed by customers. It will be appreciated thatthis terminology is used for ease of reference and explanation withinthis document. However, it should be noted that the bins 10 and thecontainers DT may be of the same shape and configuration. Furthermore,delivery containers DT may be stored in bins 10 within the storagesystem or any part thereof.

The frame structure 14 comprises a plurality of upright members 16 thatsupport horizontal members 18, 20. A first set of parallel horizontalmembers 18 is arranged perpendicularly to a second set of parallelhorizontal members 20 to form a plurality of horizontal grid structuressupported by the upright members 16. The members 16, 18, 20 aretypically manufactured from metal. The bins 10 are stacked between themembers 16, 18, 20 of the frame structure 14, so that the framestructure 14 guards against horizontal movement of the stacks 12 of bins10, and guides vertical movement of the bins 10.

The top level of the frame structure 14 includes rails 22 arranged in agrid pattern across the top of the stacks 12. Referring additionally toFIGS. 3 and 4, the rails 22 support a plurality of robotic load handlingdevices 30. A first set 22 a of parallel rails 22 guide movement of theload handling devices 30 in a first direction (X) across the top of theframe structure 14, and a second set 22 b of parallel rails 22, arrangedperpendicular to the first set 22 a, guide movement of the load handlingdevices 30 in a second direction (Y), perpendicular to the firstdirection. In this way, the rails 22 allow movement of the load handlingdevices 30 in two dimensions in the X-Y plane, so that a load handlingdevice 30 can be moved into position above any of the stacks 12.

Each load handling device 30 comprises a vehicle 32 which is arranged totravel in the X and Y directions on the rails 22 of the frame structure14, above the stacks 12. A first set of wheels 34, consisting of a pairof wheels 34 on the front of the vehicle 32 and a pair of wheels 34 onthe back of the vehicle 32, are arranged to engage with two adjacentrails of the first set 22 a of rails 22. Similarly, a second set ofwheels 36, consisting of a pair of wheels 36 on each side of the vehicle32, are arranged to engage with two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be lifted and lowered, sothat either the first set of wheels 34 or the second set of wheels 36 isengaged with the respective set of rails 22 a, 22 b at any one time.

When the first set of wheels 34 is engaged with the first set of rails22 a and the second set of wheels 36 are lifted clear from the rails 22,the wheels 34 can be driven, by way of a drive mechanism (not shown)housed in the vehicle 32, to move the load handling device 30 in the Xdirection. To move the load handling device 30 in the Y direction, thefirst set of wheels 34 are lifted clear of the rails 22, and the secondset of wheels 36 are lowered into engagement with the second set ofrails 22 a. The drive mechanism can then be used to drive the second setof wheels 36 to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 30 can movearound the top surface of the stacks 12 on the frame structure 14, asshown in FIG. 4 under the control of a centralised control utility (notshown). Each robotic load handling device 30 is provided with liftingmeans 38 for lifting one or more bins 10 from the stack 12 to access therequired products.

The body of the vehicle 32 comprises a cavity 40, the cavity 40 being ofa size capable of holding a bin 10. The lifting means 38 comprises winchmeans and a bin gripper assembly 39. The lifting means lifts a bin 10from the stack 12 to within the cavity 40 within the body of the vehicle32.

In this way, multiple products can be accessed from multiple locationsin the grid and stacks at any one time.

The robotic load handling devices 30 remove bins 10 containing inventoryitems 28 (not shown) therein and transport the bins 10 to pickingstations (not shown) where the required inventory items 28 are removedfrom the bins 10 and placed into bins 10 comprising delivery containersDT. It is important to note that a delivery container DT may fit withina bin 10. The bins 10 may comprise inventory items 28 or may comprisedelivery containers DT. Furthermore, the delivery containers DT maycomprise at least one bag 52, the inventory items 28 being pickeddirectly in to a bag 52 at a pick station (not shown).

The empty bins 10 or the bins comprising delivery containers DT or thebins comprising delivery containers DT and bags 52 may all be storedwithin the stacks 12. It will be appreciated that all the bins 10 havesubstantially the same external shape and configuration.

FIG. 4 shows a typical storage system as described above, the systemhaving a plurality of load handling devices 30 active on the grid abovethe stacks 12.

FIGS. 1 and 4 show the bins 10 in stacks 12 within the storage system.It will be appreciated that there may be a large number of bins 10 inany given storage system and that many different items 28 may be storedin the bins 10 in the stacks 12, each bin 10 may contain differentcategories of inventory items 28 within a single stack 12.

In one system described above and further in UK Patent ApplicationNumber GB1410441.8—Ocado Innovation Limited, hereby incorporated byreference, the storage system comprises a series of bins 10 that mayfurther comprise delivery containers DT with customer orders containedtherein or may further comprise bins 10 with inventory items 28 awaitingpicking contained therein. These different bins 10 and combinationsthereof may be contained in the storage system and be accessed by therobotic load handling devices 30 as described above.

In a first aspect of the invention, the robotic picking and storagesystem described above, with reference to FIGS. 1 to 4, comprises arobotic picking system, apparatus, and method to enable inventory items28 to be picked on the storage system described above, thereby avoidingbins 10 being transferred to pick stations for manual or robotic pickingof inventory items 28 in to customer orders.

As shown in FIG. 5, a portion of the storage system 100 may be set asidefor the express purpose of robotic on grid picking. Any such area willcomprise delivery containers DT located beneath the dedicated portion ofgrid, which may be remotely located from, but linked to the main portionof the framework 14 and grid 22 system by an extension of the grid 22,on which the robotic load handlers 30 operate. The portion 100 of thegrid 22 may act as a dedicated robotic picking area. However, it will beappreciated that the main storage system may be used in the mannerdescribed below, as long as at least some delivery containers DT arelocated at the top of at least some of the stacks 12 of bins 10.

A plurality of robotic handling devices 30, for instance as describedabove and in UK Patent Application No. GB1413155.1—Ocado InnovationLimited, hereby incorporated by reference, are operative on the grid 22system and under control of a separate centralised control utility asdescribed in UK Patent Application No. GB1509613.4—Ocado InnovationLimited, hereby incorporated by reference.

In addition to the robotic load handling devices 30 there are, accordingto the present invention, a plurality of additional, similarly lookingrobotic picking devices 130 which may be used to pick inventory items 28from bins 10 and to deposit items directly in the delivery containersDT.

As shown in FIG. 6a , one form of a robotic picking device 130 inaccordance with one aspect of the invention, comprises robotic pickingmeans 50 within the cavity 40 of the body of the load handling device30. The external shape and configuration of the device 130 substantiallymatches that of the load handling device 30 such that it may operate onthe grid 22 in the same manner. However, it will be appreciated, that inthis form of robotic picking device 130, the picking means 50 takes thespace previously used for the location of the bin 10 being lifted from astack 12. As described below, the purpose of the robotic picking device130 is different to that of the load handling device 30.

In one aspect of the present invention, a robotic load handling device30 is remotely instructed by a centralised control utility (not shown)to collect a bin 10 from a stack 12 in the main storage system, the bin10 containing inventory items 28 required for a customer order. The loadhandling device 30 deposits the bin 10 containing inventory items 28required for the customer order, in a vacant position in the roboticpicking portion 100 or any other suitable position in beneath the grid22 of the storage system. A robotic picking device 130 is positionedabove the deposited bin 10, containing inventory items 28, by thecentralised utility. Under remote control from the centralised utility,potentially assisted by on-board sensors, cameras and processing means,the robotic picking means 50 located within the cavity 40 of the pickingdevice 130 is instructed to pick at least one inventory item 28 from thebin 10. The item picked is withdrawn in to the cavity 40 of the roboticpicking device 130. The picking device 130 is then moved to a positionon the robotic picking portion of the system or any other part of thestorage system above a delivery container DT. The delivery container DTmay comprise a number of bags 52 in which the inventory item 28 may beplaced. Alternatively, the delivery container DT may comprise an emptydelivery container DT. The robotic picking device 130 places theinventory item 28 in the delivery container DT or a bin 10 comprising adelivery container DT contained therein.

It will be appreciated that the delivery container DT may alreadycomprise inventory items 28 either previously picked robotically ormanually on grid, or at pick stations, or picked manually at pickstations. It will be appreciated that the delivery container DTassociated with a given customer order may be filled via many separatepicking steps across a period of time. Furthermore, a customer order maycomprise multiple delivery containers DT, therefore a delivery containerDT in the picking portion of the system 100 may comprise only part of acustomer order. Multiple delivery containers DT may be consolidated at adispatch location immediately prior to the order being loaded on to avehicle for delivery.

It will also be appreciated that this form of robotic picking device 130substantially occupies a single grid space on the horizontal grid 22 ofthe framework 14. However, other forms of robotic picker device 130 mayoccupy more grid spaces. For example, a robotic picking device 130 mayoccupy 2×1 grid spaces or 2×2 grid spaces or more as required to performthe function described.

Furthermore, the robotic picking device 130 may comprise picking means50 of a different form to that shown in FIGS. 6 and 7. Any suitable formof remotely controllable or autonomously capable picking means 50 may beused. It will be appreciated that the picking means 50 may havedifferent grippers or hands to pick inventory items 28 from bins 10. Forexample, hands (not shown) may comprise suction cups activated by vacuummeans or may comprise remotely controllable grippers activated by thecentral control utility.

Using the robotic picking device 130, comprising the picking means 50,removes the requirement to transport a bin 10 from a stack 12 to a pickstation (not shown) and remove the required inventory item 28 and placeit in an allocated delivery container DT.

In a further aspect of the invention, with reference to FIGS. 6a and 6b, the robotic load handling device 130 may comprise a robotic pickerdevices 130 as shown in FIG. 6a . Such a robotic picker device 130 maybe provided with picking means 50 within the cavity 40 of the body ofthe device 130. The picking means may comprise a robotic arm capable ofremote or autonomous manipulation such that inventory items 28 may bepicked from bins 10 or delivery containers DT and deposited in bins 10or delivery containers DT.

In use, and as shown in FIGS. 6a and 6b such a robotic picker device 130would be positioned above a bin 10 transported to or located in thepicking portion of the storage system. The device 130 would be used torapidly pick inventory items 28 from bins 10 and deposit the inventoryitems 28 in the delivery containers DT located adjacent the bins 10. Asshown in FIGS. 6a and 6b it is possible for inventory items 28 to bepicked from bins 10 and deposited in delivery containers with relativelylittle movement of the picking device 130.

Using this method, it would also be possible to consolidate customerorders in delivery containers DT located in the picking portion of thegrid. For example, the robotic picker device 130 may be positioned overa first delivery container DT1 and the picking means 48 remotelyactivated to pick up an inventory item from the delivery container DT1.The robotic picker device 130 may then be moved in to position over asecond delivery container DT2 and the picking device activated to placethe in to the second delivery container DT2. This will be particularlyrelevant to customer orders where bulky items may have beeninefficiently stored in delivery containers DT and can be moved aroundin order to provide a more efficient packing regime for a given order.

In this aspect of the invention, the use of robotic load handlers in themanner described in, for example, UK Patent Application No GB1410127.3may be envisaged, and such load handling devices are hereby incorporatedby reference.

This is advantageous as the delivery containers DT are packed in todelivery vans for onward delivery to customers, therefore the moreefficiently the containers DT are packed, the more efficiently the vansmay be packed.

In the above ways, it will be appreciated that it is beneficial to pickpopular items from one bin 10 in to multiple delivery containers DT.Using robotic picker devices 330, reduces congestion at manual pickstations, increases throughput and reduces costs.

In further aspects of the invention, the robotic picking and storagesystem described above with reference to FIGS. 1 to 4 comprisesdifferent forms of robotic picking devices 130, 230, 330, 430

As explained with reference to FIGS. 1 to 7, the robotic load handlingdevices 30 described above act co-operatively, under the control of asuitable centralised control utility, to remove bins 10 from the stacks12 of the storage system. The function of each robotic handling device30 is to collect and transport a bin 10 containing the requiredinventory item 28 or items to a pick station from where the requiredinventory item 28 or items are loaded in to a delivery container DT. Itwill be appreciated that robotic load handling devices 30 may haveadditional functions such as removing bins 10 from stacks 12 and movingsaid bins 10 to alternative locations within the stacks 12 of bins 10,as well as periodically rearranging the bins 10 in the stacks 12 in aform of housekeeping task.

In a further aspect of the invention another derivative of a roboticload handling device 230 may be provided with alternative picking means150 within the body of the device 230, which can be used for picking andlifting an inventory item 28 directly from a storage bin 10, locatedwithin the stacks 12, in the main portion of the storage system andtransferring the inventory item 28 directly to a delivery container DT.

The alternative form of robotic picking device 230 is shown in FIG. 8a .The picking device 230 in the following example comprises a 2×1 gridspacing device. However, it will be appreciated that devices 230 ofalternative sizes may be envisaged.

As can be seen in FIG. 8a , the picking device 230 comprises a cavity40, lifting means, a bin gripper assembly 39 and picking means 150. Thelifting means together with the bin gripper assembly 39 act so as toreleasably attach to a bin 10 to enable the bin 10 to be lifted from thestack 12 by the robotic picking device 230, in a similar manner to thatdescribed with reference to FIG. 3. The lifting means may take the formof a torpedo engageable with co-operating portions of the bins 10 toenable the lifting means to pick the bin 10 from a stack 12. It will beappreciated that any suitable form of lifting means 44 may be used thatenables the robotic picking device 230 to engage a bin and then raise itfrom its position in the stack 12 or in the picking area of the system.The bin 10 is retained in the cavity 40 by suitable retaining meansmovable from a first position, to allow the lifting means and the bingripper assembly 39 to withdraw the bin 10 in to the cavity 40, to asecond position where the bin 10 is held in situ in the cavity 40 of thedevice 230.

The picking means 150 acts so as to pick inventory items from the bin 10lifted in to the cavity 40 within the picking device 230. The pickingdevice 230 further comprises moving means 48 for sliding the bin 10 froma first position where it is located after lifting, to a second positionwhere it is located beneath the picking means 150. It will beappreciated that the moving means 48 may additionally act to retain thebin 10 in the cavity 40.

In use, the lifting means 44 of the picking device 230 is placed over abin 10 in a stack 12 or in a picking area. The lifting means 44 and bingripper assembly 39 together lift the bin 10 in to the cavity 40 of thedevice 230, as shown in FIGS. 8c and 8d . Once lifted, the bin 10 istransferred by the moving means 48 from the first, lifted position tothe adjacent second position within the cavity 40 as shown in FIG. 8e .It should be noted that the first position substantially corresponds toa first grid square 22 in the horizontal part of the framework 14 andthe second position substantially corresponds to a second grid square22′ adjacent the first grid square 22.

The picking means 150 is disposed above the second position within thecavity 40 of the device 230. The picking means 150 comprises a suitablegrabbing means for locating and engaging at least one inventory item 28from the bin 10 as shown in FIG. 9d . It will be appreciated that thepicking means 150 comprises means for engaging inventory items 28 ofnumerous shapes and sizes. Indeed, different engaging means may berequired for different inventory items 28 to be picked. Furthermore, thepicking means 150 is required to be movable in at least x-y-zdirections.

As shown in FIG. 8f , once an inventory item is engaged by the pickingmeans 150, the bin 10 is moved from the second position to the firstposition by the moving means 48. The inventory item 28 is retained onthe picking means 150. The robotic picking device 230 is then moved to aposition such that the second position within the device is above atarget delivery container DT. The picking means 150 is then extendedtoward the delivery container DT identified as requiring the inventoryitem picked, as required, depending on the size and shape of theinventory item.

Once picked, the inventory item is placed in a delivery container DT,shown in FIG. 8f are positioned beneath the cavity 40 in the second ofthe two grid spaces occupied by the picking device 230. However, it willbe appreciated that the robotic picking device 230 may be moved suchthat the picking device 230 is disposed above an alternative deliverycontainer DT in the robotic picking area 100 or on the main storagesystem.

FIGS. 8g, 8h and 8i show an alternative method of robotic, on gridpicking in which the delivery container DT is lifted by the roboticpicking device 230 in to the cavity 40, the inventory items 28 beingdisposed within bins 10 within the robotic picking area or in the mainsystem.

In this alternative embodiment it will be appreciated that the roboticpicking device 230 may travel on the grid 22 carrying the deliverycontainer DT, the picking means 150 being used to pick inventory itemsfrom bins 10 within the storage system. In this way, multiple inventoryitems may be picked in to a single delivery container DT being carriedby a single robotic picking device 230.

It will be appreciated that such robotic picker devices 230 may be usedto retrieve a bin 10 from the main storage system in which the requiredinventory items 28 were located. Alternatively, load handling devices 30may be used to lift bins 10 from the main storage system and transportthem to a dedicated robotic picking area 100 of the system, thededicated picking area 100 having only a single layer of bins 10 ordelivery containers DT disposed within the framework 14.

The picker device 230 would, under remote control from the centralisedcontrol utility, potentially assisted by on-board sensors camera andprocessing means, be positioned above the bin 10 deposited by therobotic load handling device 30 and act as described above withreference to FIGS. 8g, 8h and 8i . Inventory items 28 picked beingdeposited in target delivery containers DT in the dedicated portion 100of the storage system. It will be appreciated that means to identify thecorrect delivery container DT and as appropriate the correct positionwithin the delivery container DT, is provided on the picking device 230if necessary, using remotely controlled automatic positioning means. Inthis way, the inventory item 28 is robotically picked from a bin 10 anddeposited in a delivery container DT without the need for any bins 10 ordelivery containers DT to be transported to picking stations.

It will be appreciated that the robotic picker handling device 230 maybe of any size capable of carrying a bin 10 whilst also containingpicking means 150. This may be achievable with regard to the device 230if the device 230 was adapted to have limited winch capabilities withrespect to other robotic load handling devices 30 operating on thestorage system. In this specific example, it may be that the pickerhandling device 230 need only be provided with telescopic grippers ontwo sides of the cavity within the body of the device 230.

Given the limited space within the robotic picking device 230 analternative robotic picking device 430 is shown in FIGS. 9a to 9f . Inthis robotic picking device 430 the bin 10 is not lifted in to thecavity 40 of the device 430 by lifting means 44 and bin gripper assembly39 rather the bin 10 is pushed up in to the cavity 40 by raising means46 located in the base of the storage system. The raising means 46occupies a grid space as shown in FIG. 9c , for example.

The raising means 46 comprises a substantially flat plate havinglocating pins 47 for co-operating with suitable co-operating means onthe underside of the or each bin 10 in order to stabilise the bin 10 onlifting. The raising means 46 may be raised by any suitable means, forexample via hydraulically activated pistons extending in a telescopicmanner upwardly toward the grid.

In use, as shown in FIGS. 9b to 9f , a robotic load handling device 30(not shown in FIG. 9b ) retrieves a bin 10 from the storage system anddeposits said bin 10 on the raising means 46. A robotic picking device430 is moved in to position over the bin 10 on the raising means 46. Theraising means 46 is activated, for example by the centralised controlutility, and the bin 10 is raised in to the cavity 40 of the device 430.The device 430 comprises releasable latching means 49 that act so as toretain the bin 10 within the cavity 40 during the picking process. Thelatching means 49 may comprise movable arms that locate beneath the bin10, once the bin 10 is in situ. Alternatively the latching means 49 maycomprise electromagnetic catches operable by solenoids or any othersuitable means. It will be appreciated that any number of releasablelatching mechanisms may be used performing the required function ofretaining the bin 10 in the cavity 40.

Once the bin 10 is in situ, the picking means 150 may be used in amanner similar to that described above with reference to the previousrobotic picking device 230. Namely, the picking means 150, movable inx-y-z directions is manipulated in to position above an inventory item28 in the bin 10 under the control of the central control utility or anyother suitable control means. The picking means 150 is then lowereddownwardly and engages an inventory item 28. It will be appreciated thatthe picking means 150 is provided with suitable gripping means to engagewith an inventory item 28. Once engaged, the picking means 150 is liftedupwardly and moved in to position above a delivery container DT locatedbeneath the grid space adjacent the raised bin 10.

Once the picking means 150 is in the correct location above the requireddelivery container DT, assisted by sensor or camera means asappropriate, the inventory item 28 is either released in to the deliverycontainer DT or placed by movement in the z-axis of the picking means150 in to the delivery container DT.

It will be appreciated that the raising means 46 may be used to raise adelivery container DT in to the cavity 40 within the picking device 430and the picking means 150 used to pick inventory items 28 from bins 10located underneath the grid and place said inventory items in thedelivery container DT within the cavity 40 of the picking device 430.

Once all the required picking steps are complete, the robotic pickingdevice 430 returns to the grid square above the raising means 46, theraising means 46 is raised, the bin 10 or the delivery container DT isunlatched from the device 430 and lowered beneath the grid space. Thebin 10 or delivery container DT is then positioned in the required placeby a load handling device 30 where it awaits its next action.

FIGS. 10a to 10d show a further embodiment of a robotic device 30. Ascan be seen in FIG. 10a , the robotic device 330 comprises a cavity 40that extends through the body of the robotic device 330. In order toachieve this, the lifting means 44, bin gripping mechanism 39 and allother mechanics and electronics required to operate the robotic device330 have been moved to the sides of the device 330, creating a roboticdevice having overhanging sections. It will be appreciated that theoverhanging sections shown in FIGS. 10a and 10b are exemplaryembodiments only and there may be only one overhanging section disposedon one side of the robotic device. However, it should be noted that thecross-sectional area defined by the wheels of the device 330 occupy asingle space of the grid 22 only.

In use, a bin 10 or a delivery container DT may be lifted from thestorage system in to the extended cavity 40 of the device 330. As shownin FIG. 10b , when in situ the delivery container DT, in this example,is exposed at the top surface of the device 330. Therefore, it ispossible for inventory items to be picked directly in to the deliverycontainer DT.

It will be appreciated that there are many ways of picking inventoryitems directly in to the delivery container DT and FIGS. 10 c and 10 dshown two ways in which items may be picked directly in to the device330 of FIGS. 10a and 10 b.

In the embodiment of FIG. 10c , robotic picking means 250 is suspendedabove the storage system. A number of robotic devices 330 containingbins 10 comprising inventory items 28 required to fulfil customer ordersare positioned within reach of the picking means 250. The picking means250 may efficiently pick from the bins 10 located in the devices 330directly in to the delivery container DT located in the central roboticdevice 330.

It will be appreciated that if the robotic picking means 250 hassufficient reach, inventory items 28 may be picked directly from thebins 10 located beneath the grid 22 of the storage system. Furthermore,in this example it will be appreciated that the picking means 250 may besuspended at a fixed point from the ceiling above the storage system. Itwill be appreciated that multiple picking means 250 may be suspendedfrom the ceiling above the storage system.

Alternatively, a single picking means 250 may be located on a moveablebeam moveable in the X-Y direction above the storage system in orderthat the single picking means 250 may be moved to required points abovethe storage system under the control of a centralised control utility.

It will further be appreciated that robotic picking means 250 may bepositioned around the edges of the storage system to allow for pickingat the extremes of the system.

In the embodiment of FIG. 10d a further robotic picking device 550 isshown picking goods directly from one robotic device 330 comprising abin 10 in to a robotic device 330 comprising a delivery container DT.The robotic picking device 550 is mounted on a form of robotic loadhandling device 630. It will be appreciated that the device 630 does nothave the ability to handle bins 10 or delivery containers DT and is morea means for moving picking means 550 around the grid 22 above thestorage system to a position where picking can take place. It will befurther appreciated that the robotic picking device 550 mounted on therobotic load handling device 630 may be moved around the grid and beused to pick inventory items from bins 10 in all locations, as long asthe inventory items 28 are accessible to the picking means. For example,in one example, a bin 10, may be lifted from one of the stacks 12 in thesystem and releasably latched such that it is disposed above the levelof the grid. A mobile robotic picking device may then pick a number ofinventory items 28 as required and deposit them individually or incombination in to a target delivery container DT. The bin 10 may then bereturned to an appropriate stack 12. The latching means supporting thebin 10 on the grid 22 may be of any suitable form capable of supportingthe bin 10 on the grid 22 and may be remotely operable.

It will be appreciated that the advantage of this aspect of theinvention is that the bins 10 and delivery containers DT are lifted fromthe stacks 12 once and retained in the robotic devices 330. The bins 10and delivery containers DT do not need to be picked up from one locationand temporarily placed at an appropriate point of the system whilstpicking occurs. In this embodiment it is possible for the centralisedcontrol utility to position the bins 10 and the delivery containers DTwithin the devices 330 in a relatively uncongested part of the system.In this way the grid 22 may be used to its fullest capacity.

It will be appreciated in the case of all the robotic picking devicesdescribed above, the picking means 50, 150, 250, 350, 450, 550 and 650have been described as picking single inventory items 28 from a bin andplacing it in a delivery container DT. However, in a further aspect ofthe invention the picking means 50, 150, 250, 350, 450, 550 and 650 maybe adapted to pick multiple inventory items 28, either multipleinventory items 28 from a single bin 10 or single items 28 from multiplebins 10. The multiple inventory items 28 picked may be for the samedestination delivery container DT or may be for multiple deliverycontainers DT.

In order that the picking means 15 may pick multiple items from a singlebin 10, it will be appreciated that the robotic picking devicesdescribed above may be provided with storage means within the cavity 40of the device.

In use, a robotic picking device as described above is moved in toposition above a bin 10 containing inventory items 28 to be picked. Inthe situation where a single customer has ordered a plurality of asingle inventory item 28, the picking means 150 picks the first item 28and places said item 28 in the storage means within the cavity 40. Thepicking means 150 is then manipulated to pick a further inventory item28 and places said second inventory item 28 in the storage means withinthe cavity 40 of the device. This is repeated until all the requiredinventory items 28 are in the storage means. The robotic picking devicethen moves in to position above the delivery container DT beneath thegrid and the picking means used to move the items 28 from the storagemeans to the delivery container DT, placing the items as required,assisted by suitable sensor means or camera means as required.

In the case where several inventory items 28′, 28″ and 28′″ of differentcategories located in a number of bins 10, the robotic picking device ismoved in to position above the first bin 10′ and the first inventoryitem 28′ is picked by the picking means and placed in the storage meanswithin the cavity 40 of the device. The robotic picking device is thenmoved to a second bin 10″ where the second inventory item 28″ is stored.The second item 28″ is then picked by the picking means and placed inthe storage means in the cavity 40 of the device. Finally the device ismoved in to position over the third bin 10′″ and the third item 28′″ ispicked. The robotic picking device is then moved in to position over thetarget delivery container and the items 28′, 28″ and 28′″ transferred bythe picking means 150 from the storage means to the delivery containerDT.

It will be appreciated that the multiple inventory items 28 need not befor the same customer order and as the items 28 can be picked frommultiple bins, they can be deposited in multiple delivery containers DT.

This may be particularly useful if inventory items 28′, 28″ and 28′″ arelocated closely together in the storage system.

FIG. 11a shows a further aspect of the invention. As can be seen in FIG.11a , the storage system or a part thereof comprises robotic pickingmeans 350 located at one edge of the system. The robotic picking means350 is movably mounted on track means 360. The picking means 350 may bemoved along the track under the control of a central utility. Therobotic device 350 may be powered directly from a suitable fixed powersupply. Advantageously in this aspect of the invention, the roboticpicking means 350 need not be battery powered and may be moresubstantial than the picking means 150 contained in the cavity of arobotic picking device. It will be appreciated that the robotic pickingmeans 350 may be fixedly mounted to suitable mounting means. Themounting means may include be not be limited to structural members ofthe building or installation containing the storage system or purposebuilt mounting means such as cross beams or RSJs.

In use, robotic load handling devices 30 position bins 10, containinginventory items 28 to be picked, and delivery containers DT, requiringthe inventory items 28 in the bins 10 positioned by the robotic loadhandling devices 30, adjacent the robotic picking device. Under thecontrol of the centralised control utility, the picking means 350 picksan inventory item from a bin 10 and places it in a target deliverycontainer DT. The picking process continues in this manner until all thedelivery containers requiring said inventory items 28 have beenserviced. At this point, load handling devices 30 may remove thedelivery containers DT that do not require further inventory items andmove to dispatch or in to a storage part of the main grid.

It will be appreciated that this method of on grid picking requiressubstantially less movement of robotic devices around the grid to pickinventory items.

FIG. 12 shows an alternative arrangement of the robotic picking means350 described above with reference to FIGS. 11a and 11b . In FIG. 12 therobotic picking means 450 is suspended from a gantry crane 480. Therobotic picking means 450 is suspended from suitable beams locatedaround the periphery of the grid 22. As shown in FIG. 12a , the roboticpicking means 450 can pick from any of the bins 10 or deliverycontainers located on the top of the stacks 12 beneath the grid.

The picking means 450 operates in a similar fashion to that describedwith reference to FIG. 11b with the advantage that the whole grid 22 canbe accessed.

Should the removal of an inventory item 28 from a delivery container 10result in the delivery container DT being empty, it may become adelivery container DT for a different customer order or be returned tostorage or to goods inbound to have further inventory items 28 locatedtherein.

In this way, congestion at a manual pick station is avoided. Inaddition, a pick station, whether for manual or robotic picking,represents a significant investment. For items which can effectively bepicked using the present invention, the overall investment for a givenpicking capacity can be significantly reduced. It will be appreciatedthat certain orders may be completely pickable without accessing thenormal pick stations.

It will further be appreciated that using a robotic picking-area that isonly, for example, one bin 10 deep as shown in FIG. 5, may allow theoverall capacity of a given warehouse to be increased, since otherwiseunused space may become productive.

Moreover, the robotic picking portion 100 of the storage and pickingsystem may comprise chilled or ambient sections to enable picked ordersto be retained for a period of time before being loaded to deliveryvehicles and dispatched. It will be appreciated that grid size andaverage stay time in the DT dispatch area is driven by the density ofthe robotic load handling devices 30, 130 on the grid so shorter leadtimes could be accommodated, especially if low frequency items couldalso be picked manually at the pick stations.

Furthermore, the above mentioned aspect of the invention may be combinedwith high speed stationary robotic load handling devices for certaininventory items 28 that are considered to be fast moving, as previouslydisclosed in UK Patent Application No. GB1502123.1—Ocado InnovationLimited.

Furthermore, it will be appreciated that the picker devices 30, 130,230, 330 and 430 may further comprise sensor means to ensure the pickedinventory item 28 is delivered to the correct delivery container DTand/or the correct part of the delivery container DT. Deliverycontainers DT may comprise a number of bags and said sensor means may beused to ensure correct positioning of inventory items 28 within bags inthe delivery containers DT.

It will be appreciated that whilst the above embodiments are describedwith reference to the bins 10 being of substantially the same shape andconfiguration, the system may be adapted to utilise bins and deliverycontainers of alternative shapes, sizes and configurations. In thissituation, robotic load handling devices and robotic picking deviceswould need to be provided within the system capable of handlingdifferently shaped and sized bins and containers. Furthermore, certainareas of the storage system may be adapted to handle alternative sizesof containers and bins.

It will further be appreciated that the picking means disposed above thegrid 22 need not be a robotic device 30 but may comprise an operatorhaving access to the grid 22 to pick inventory items 28 directly frombins 10 to transfer them to delivery containers DT. The operator maytravel on a robotic service device.

In a further aspect of the invention, the robotic picking and storagesystem described above with reference to FIGS. 1 to 4 comprises bins 10performing different functions. It will be appreciated that the bins 10described below may be used in association with any of the robotic loadhandling devices 30 described above.

In the further embodiment of the invention, derivatives 410 of the bins10 comprise a mechanism for dispensing one or more of a plurality ofinventory items 28 from the base of the bin 410. As shown in FIGS. 13through to 18 a bin 410 may comprise numerous mechanisms for achievingthis. Each mechanism is described in detail below. However, it will beappreciated that the object to be achieved in all cases is substantiallythe same—the ability to deposit an inventory item 28, or similar in to adelivery container DT located beneath a bin 410, thereby avoiding theneed to transport bins 10 containing inventory items 28 to pick stationsbeneath the framework 14 of the storage system.

With reference to FIG. 13, a bin 410 is shown having 8 dispensingdevices 56 disposed within a single bin 410. It will be appreciated thatthe number of dispensing devices may be varied according to the size andshape of the inventory items 28 to be stored in the bins 410.

The dispensing devices 56 disposed within the bin 410 of FIGS. 13a, 13band 13c comprises a conventional vending machine mechanism whereby asingle inventory item 28 may be dispensed from a given dispensing device56. It will be appreciated that the inventory items 28 stored maycomprise a number of different items of a number of different categoriesin each bin 410. Alternatively every dispensing device within a singlebin 410 may comprise the same inventory item 28.

In use, in response to an electrical, mechanical or electromechanicalinput to the dispensing means, a single or several inventory items 28may be dispensed from the base of the dispensing means via an opening inthe base of the bin 410. The base of the dispensing means must cooperatewith the base of the bin 410 to ensure the inventory item to bedispensed is ejected from the base of the bin 410. It will beappreciated that the number of dispensing means disposed within each bindepends on the size of the inventory items 28 to be dispensed.Furthermore, it will be appreciated that any given customer order mayrequire a plurality of the same inventory items 28 therefore thedispensing device must be able to dispense single or multiple inventoryitems 28 of a given variety.

The opening in the base of the bin 410 may be a flap, two co-operatingflaps, a rolling shutter or any other suitable opening or closing meanscapable of remote or autonomous. It will be appreciated that the loadhandling device 30 carrying such a dispensing bin 410 may receive acommand from the central utility to transport the dispenser-type bin toa given position above a delivery container DT in a robotic pickingarea. The robotic load handling device 30 may then be provided withmeans for activating the dispensing device in the bin 410 in order forthe inventory items 28 to be deposited in delivery containers DTdeposited below the dispenser bin 410. The command received andtransmitted via the robotic load handling device may be controlled viamechanical, electrical, electromechanical or wireless means with theappropriate sensors being disposed in the bins 410 or the robotic loadhandling devices 30 described above. The sensors may be located in thebin gripper assembly 39 described above, however other suitable meansmay be used.

It will further be appreciated that the command may be given in numerousways. For example, the command may be “Go to position x there anddispense on arrival”, or the command may be issued in two sections,rather first “go to position x” and then “dispense”.

Furthermore, as shown in FIGS. 13a, 13b and 13c the bin 410 may comprisea permanent opening 58 in the base 58, the dispensing means 56 acting soas to move and eject the target inventory item 28 out of the permanentopening 58.

It will be appreciated that the inventory items 28 packed in tocassettes in the dispenser bin 410 may be the same or may be different.Furthermore, it will be appreciated that the any of the robotic pickingdevices described above may pick cassettes 56 from a bin 10 and compilethem in to a single bin thereby creating a customised bin 10 that maythen be transported by a suitable picking device to multiple deliverycontainers DT and the required number of items 28 be dispensed. In thisway the robotic picking device makes a customised bin 10 such that thebin may be transported around the system in the manner described aboveto deposit inventory items 28 in delivery containers.

In use, in the storage, picking and dispatch system described above,such a dispensing bin 410 may be used in several circumstances. Firstly,inbound inventory items 28 may be unpacked and loaded in to dispensingbins 410. Once loaded with required inventory items 28, a robotic loadhandling device of any of the types described above may be used totransport the dispensing bin to the robotic picking portion of thestorage system. However, it will be appreciated that the load handlingdevice 30 will require means for activating the dispensing means 56 todeposit the or each inventory item through the opening 58 in the base ofthe bin 410.

As shown in FIG. 14, once in position above a delivery container DTrequiring an inventory item from said dispensing bin 410, the dispensingmechanism is activated by appropriate communication means between therobotic load handling device 30 and the dispensing bin, and a requiredinventory item 28 is deposited in to the delivery container DT locatedbeneath the grid in the robotic picking portion of the storage system.

Once the inventory items 28 have been deposited in the required deliverycontainers DT the dispensing bin 410 may be returned by the robotic loadhandling device 30 to the goods inbound portion of the system to berefilled or it may be returned to the main storage system for storage ina stack 12 until the inventory items 28 are required again.

In this situation, the order in the delivery container DT may becomplete in which case the container DT may be transported by roboticload handling devices 30 to a van or a dispatch station for onwarddelivery. However, if the order has not been fulfilled the deliverycontainer DT may be kept in the robotic picking portion of the storagesystem awaiting further inventory items 28 to be deposited therein.Moreover, the delivery container DT may require transport to aconventional pick station to have further inventory items 28 addedthereto in a manual or robotic manner. Furthermore, if the order iscompleted but there is a delay before dispatch can occur, the deliverycontainer DT may be transported to the main storage system and storedtherein until a delivery time is known.

In a further embodiment of the third aspect of the invention, as shownin FIG. 15a bin 510 has one or more opening or hatch 60 in its base toallow items contained in the bin 510 to fall from the bin 510 to adelivery container DT located below in the bin 510. In this manner thebin 510 may be considered a dispenser bin 510 as described above.However, in this form of bin 10, the entire contents of the bin 510 isdeposited in the delivery container DT when the bin 510 is in situ overthe required delivery container DT

Referring to FIGS. 15a, 15b, and 15c preferably the whole of the base 75is comprised of one or more moveable panel 65. When the one or moremoveable panel or panels is in its fully open second position shown inFIGS. 15a, 15b and 13c the hatch 60 extends across the whole of the base75 of the bin 10. As the hatch is the same size as the base of the bin510 even very large items can be reliably dispensed to the deliverycontainer DT underneath the bin 510.

As shown in FIGS. 15a, 15b and 15c one or more slideable panel movesfrom a first closed position shown in FIG. 15a to a second open positionshown in FIG. 15b . In the first position the panels 65 abut the sidesof the bin 10 as shown in FIG. 15a to form a continuous base.

This embodiment has the advantage that there is little risk of itemsbecoming stuck between the panel and the side 70 of bin 510. It has thefurther advantage that there is little or no risk of the slideablepanels being impeded by the contents of bin 510 or the contents of thedelivery container DT underneath bin 510.

One form of mechanism for moving the panel 65 from a closed to an openposition is shown in FIG. 15d . The mechanism comprises a roller typemechanism for rolling the panel 65 from an open position to a closedposition as shown in FIG. 15 c.

As shown in FIG. 15e , in use a robotic load handling device 30 carriesa dispenser bin 510 in accordance with one form of the invention and ismoved in to position above a target delivery container DT. The dispenserbin 510 is activated via the central control utility and/or via therobotic load handling device and the item stored in the bin 510 dropsthrough the opening in the base of the bin 510 in to the deliverycontainer located below.

In another preferred embodiment as shown in FIGS. 16a and 16b , shownone or more slideable panels is provided. In the first position thepanels abut or overlap against one another or the side 70 of the bin 510as shown in FIGS. 16a to c to form a continuous base and close the hatch60. In the second position the slideable panel or panels may beindependently opened thereby allowing the content of the bin 510immediately above the panel activated to be deposited in the deliverycontainer DT beneath the robotic load handling device 30 carrying thebin 510.

The bin 410 of FIG. 16 may comprise an inventory item 28 per movablepanel as shown. Alternatively there may be a plurality of items perpanel, the panel only being opened enough to allow a single item to bedispensed.

In a further embodiment of dispenser bin 510, for example, as shown inFIGS. 17 and 16, the bin 510 comprises a hatch 60 which is releasablyopened and closed by one or more moveable panels or flaps 65. The panelsmay be flexible, elastic, deformable, continuous or discontinuous or ofany suitable form for moving from an open to a closed position.

The panels can be moved between a first or closed position shown insecond or open position where the hatch 60 is fully or partially openunder the control of the controller utility or the load handling device30.

In a preferred embodiment shown in FIG. 15 the bin 510 has sides 70 a,and 70 b and a base 75 formed by a pair of pivotable panels or flaps 65a and 65 b.

In the first closed position the flaps abut or overlap one another toform a continuous base 65 which retains the contents of bin 510 as shownin FIG. 17.

In the second open position the flaps 65 a and 65 b pivot and openoutwards towards the delivery container DT beneath the bin 510 to allowthe contents of the bin 510 to fall into the delivery container DTunderneath bin 510.

The two or more pivotable panels 65 a and 65 b can be moved together orindependently by the controller utility in direct communication with thebin 510 or via a communication with the robotic load handling device 30carrying the bin 510, from the first position to the second openposition to dispense the contents of the bin 510 into the deliverycontainer DT underneath bin 510. The panels 65 a and 65 b can then bereturned to the first closed position to ready the bin 510 to receiveother inventory items 28.

It will be appreciated that pivotable panels 65 a and 65 b may beprovided which open inwardly.

It will further be appreciated that pivotable panels 65 a and 65 b maybe provided which can open inwardly and outwardly.

In an alternative embodiment, the bin 510 may be divided into two ormore compartments A and B each of which is provided with one or morepivotable panels 65 which can be independently moved from a first closedposition to a second open position to dispense the contents of one ofthe compartments to the bin underneath bin 510A.

In an alternative embodiment, several abutting or overlapping panelsform the base of the bin 510 in the first closed position. The panelscan be rotated by the controller to a second position so that theyoverlap in the case of the abutting panels or overlap more in the caseof the overlapping panels to provide a hatch 60 through which items canbe dispensed from bin 510 to the delivery container DT underneath thebin 510. The size of the hatch can be varied by varying the amount ofoverlap of the panels in the second open position.

In an alternative embodiment the hatch 60 only extends across a part ofthe base 75. One or more moveable panels 65 are provided which in afirst or closed position cover the hatch 60 and retain the contents ofbin 510. The one or more panels 65 can be independently moved away fromthe hatch to a second position where the hatch is partially or fullyopened so that items in bin 510A fall through the hatch to the binunderneath bin 510A.

In further embodiments the one or more panels 60 move laterally from thefirst to the second position. It will be appreciated that alternativelya single panel 60 may be provided which moves bilaterally.

It will be appreciated that when two or more panels 60 are provided theycan abut or overlap one another in the first position to close thehatch.

It will be appreciated that when two or more panels 65 are provided eachpanel can be moved independently of the others.

It will be appreciated that several hatches may be provided in the baseeach closed by one or more moveable panel.

It will be appreciated that by varying the second position of the one ormore panels the hatch can be partially or fully opened to dispense someor all of the contents of bin 510 into the delivery container DTunderneath. This may be especially preferred when there is a need todispense small items and retain larger items. Alternatively this may beespecially preferred when dispensing fluids or free flowing items suchas by way of example only grain, detergent, sugar, or like powders,packaging materials or beads, novelty items such as sweets, glitter orsmall toys, or liquids.

It will be appreciated that a flexible, or elastic layer may extend fromthe hatch to act as a funnel or channel to direct items towards thehatch.

It will be appreciated that in an alternative embodiment the base of thebin comprises an elastic layer having openings or valves through whichheavier items can be dispensed. The opening or openings may be sizedsuch that the weight of the item to be dispensed is sufficient to conveythe item through the opening 60. Alternatively the opening or openingsmay be sized and shaped to only dispense items from bin 510 to thedelivery container DT under bin 510 when other items in the bin 510press on the item or items to be dispensed.

It will be appreciated that in an alternative embodiment the base of thebin comprises a net so that small items fall through the bin 510 to thedelivery container underneath the bin 510.

It will be appreciated that dispenser bins described in this embodimentmay only carry a single item. However, the dispenser bin 510 may carry anumber of items each located on a separately openable and closeableportion of the base of the bin, as shown in FIG. 14 a.

In use, a robotic load handling or picking device 30 as described in anyof the embodiments above transports the dispensing bin 510 to a gridposition on the robotic picking grid above a delivery containerrequiring the inventory item 28 in the dispenser bin. A signal isapplied to a releasable opening mechanism in the dispensing bin 510 orto the robotic load handling device carrying the bin 510, the signalacting so as to release the opening mechanism in the dispensing bin, theinventory item 28 being deposited in the delivery container DT.

The dispenser bin 510 may be provided with verification means to verifythat the item or items dispensed are deposited in the correct deliverycontainer DT or in the correct portion of the correct delivery containerDT.

In a further aspect of the invention as shown in FIGS. 18a and 18b , thebin 10 comprises a form of hopper for containing ‘free flowing’inventory items such as sweets, liquids, flour, nuts and bolts or othersuch inventory items 28. The bin 810 may comprise separate hopper-typesections containing different categories of inventory item 28 or maycomprise a bin 910 having a single hopper type unit containing a singlecategory of inventory item 28.

In use, the bin 10 comprising said hopper-type dispenser bin istransported by a robotic load handling or picking device 30 as describedin any of the embodiments above. The device transports the dispensingbin 810, 910 to a grid position on the robotic picking grid above adelivery container DT requiring the inventory item 28 in the dispenserbin 810, 910. A signal is applied to a releasable opening mechanism 61in the dispensing bin 810, 910 or to the robotic load handling devicecarrying the bin 810, 910, the signal acting so as to release the oreach opening mechanism 61 in the dispensing bin, the inventory item 28being deposited in the delivery container DT.

It will be appreciated in the case of the dispenser bin 810 that eachsection requires a releasable opening mechanism 61 such that inventoryitems 28 may be dispensed, using sensor and camera means as appropriate,in to the correct section of the delivery container DT.

It should be noted that the delivery container DT may be an actualdelivery container for onward transmission to the customer or be a bin10 with “post pick” items destined for delivery to somewhere else, forinstance to an alternative fulfilment centre. The term deliverycontainer DT is used to distinguish bins 10 from delivery containers DT.However, it will be appreciated that bins and DTs may be of a similar orsubstantially the same shape and configuration, the function of the bindefining the definition rather than any change in the actual shape orsize of the bin.

It will also be appreciated that the delivery container DT may becontained within a bin 10 to ensure that the robotic load handlingdevices can handle the movement of all bins whether in the stacks 12 ofthe main storage system or in a nominal robotic picking area.

It will further be appreciated that whilst many of the above embodimentsare described with reference to a remote or separate robotic pickingarea, it is possible that the main storage system be used as a roboticpicking area at the same time as functioning as a conventional pickingand storage system.

1. A picking device configured for use on a grid-based storage system,the storage system comprising: a first set of parallel rails or tracksand a second set of parallel rails or tracks extending substantiallyperpendicularly to the first set of tracks or rails in a substantiallyhorizontal plane to form a grid pattern having a plurality of gridspaces; and multiple containers located beneath the rails or trackswithin a footprint of a single grid space, wherein the picking devicecomprises: a picking means configured to pick at least one inventoryitem from at least one container of the storage system and locatedbeneath the trails or tracks; means for moving each item from the atleast on container to a different predetermined container; and at leastone vehicle means adapted to move laterally on the rails or tracks abovethe containers comprising: a vehicle body, wherein the vehicle bodycomprises a cavity and the picking means is located within the cavity;and a wheel assembly comprising a first set of wheels for engaging thefirst set of rails or tracks to guide movement of the device in a firstdirection, and a second set of wheels for engaging with the second setof rails or tracks to guide movement of the device in a second directionsuch that the picking device may be positioned above a predeterminedcontainer to pick the item.
 2. A picking device according to claim 1,wherein the picking device substantially occupies a single grid space.3. A picking device according to claim 1, wherein the picking deviceoccupies more than one grid space.
 4. A picking device according toclaim 3, wherein the picking device occupies an integer number ofadjacent grid spaces.
 5. A picking device according to claim 3, whereinthe picking device occupies 2×1 grid spaces, or wherein the pickingdevice occupies 2×2 grid spaces.
 6. A picking device according to claim1, wherein the picking means comprises a remotely or autonomouslymanipulatable robotic arm.
 7. A picking device according to claim 1,further comprising a lifting means and container gripper assembly forreceiving a container in the cavity.
 8. A picking device according toclaim 7, further comprising moving means, movable from a first positionto a second deposition, wherein the moving means is for sliding a liftedcontainer from a first position where it is located after lifting, to asecond position where it is located beneath the picking means.
 9. Apicking device according to claim 8, wherein the first positionsubstantially corresponds to a first grid space of the horizontal railor track plane, and the second position substantially corresponds to asecond grid space of the horizontal rail or track plane adjacent to thefirst grid space.
 10. A picking device according to claim 9, wherein thepicking means is disposed above the second position.
 11. A pickingdevice according to claim 1, wherein the picking means is movable in atleast x-y-z directions.
 12. A picking device according to claim 1,wherein the picking means accesses the at least one inventory item fromthe at least one container through a bottom of the vehicle body.
 13. Amethod of picking customer orders on the grid based storage system usinga picking device, wherein the storage system includes: a first set ofparallel rails or tracks and a second set of parallel rails or tracksextending substantially perpendicularly to the first set of tracks orrails in a substantially horizontal plane to form a grid pattern havinga plurality of grid spaces; and multiple containers located beneath therails or tracks within a footprint of a single grid space, and whereinthe picking device includes: a picking means configured to pick at leastone inventory item from at least one container of the storage system andlocated beneath the trails or tracks; means for moving each item fromthe at least on container to a different predetermined container; and atleast one vehicle means adapted to move laterally on the rails or tracksabove the containers comprising: a vehicle body, wherein the vehiclebody comprises a cavity and the picking means is located within thecavity, and a wheel assembly comprising a first set of wheels forengaging the first set of rails or tracks to guide movement of thedevice in a first direction, and a second set of wheels for engagingwith the second set of rails or tracks to guide movement of the devicein a second direction such that the picking device may be positionedabove a predetermined container to pick the item, the method comprising:positioning a picking device above a bin containing the inventory item;picking at least one inventory item for the customer order from the binusing the picking means and withdrawing the item into the cavity of thepicking device; moving the picking device to a position above a deliverycontainer (DT); and placing the inventory item in the deliverycontainer.
 14. A method according to claim 13, wherein the deliverycontainer associated with a given customer order is filled via pickingsteps across a period of time.
 15. A method according to claim 13,wherein the delivery container is located adjacent to the deposited bin.16. A method according to claim 13, wherein the DT comprises only a partof the customer order.
 17. A method according to claim 16, furthercomprising consolidating the delivery container with other deliverycontainers at a dispatch location.
 18. A method according to claim 13,further comprising the preliminary steps of: instructing a load handlingdevice to collect a container from a stack in the storage system,wherein the bin contains an inventory item required for a customerorder; and depositing the container in a vacant position beneath thegrid of a robotic picking portion of the system.
 19. A method accordingto claim 13, wherein the picking device is used to carry a deliverycontainer DT on the grid.
 20. A method according to claim 13, whereinthe picking device is used to consolidate customer orders in deliverycontainer DT located in the picking portion of the grid, following thesteps of: positioning the picking device over a first delivery containerDT1; picking an inventory item from the delivery container DT1; movingthe picking device to a position over a second delivery container DT2;and placing the inventory item in to the second delivery container DT2.21. A method according to claim 13, wherein picking devices actco-operatively with load handling devices 30 under the control of asuitable centralised control utility.